ECE 8830 - Electric Drives

Topic 3: Induction Motor Modeling -

Steady State

Spring 2004
 Introduction

Induction machines are the most widely

used of all electric motors. They offer the
following attractive features:
 Generally easy to build and cheaper than
corresponding dc or synchronous motors
 Rugged and require little maintenance
 Offer reasonable asynchronous performance
 A manageable torque-speed curve
 Stable operation under load
 Generally satisfactory efficiency
 Range in size from few Watts to several MW
 Introduction (cont’d)

Some disadvantages of induction motors

are:
 Speeds not as easily controlled as dc motors
 Draw large starting currents, typically 6-8 x
their full load values
 Operate with a poor lagging power factor
when lightly loaded
 Introduction (cont’d)
New designs for high performance
induction machines, such as in high
speed motors for gas compressors, will
be required to have new characteristics
from existing machines, it is important to
have a good fundamental understanding
of these types of machines.
Goal: To develop a “simple” model for
the induction machine that is useful for
control and simulation.
Structure of an Induction Machine

Two types of induction machine:

Wound rotor or squirrel cage rotor
 Rotating Magnetic Field and Slip
We previously showed that a balanced set
of three-phase currents flowing in a set of
symmetrically placed, three-phase stator
windings produces a rotating mmf given by:
34N
F (θ , t ) =
e
I m cos(θ ae − ω et )
2π P
a

[eq. (6.1) Ong, eq. (2.9) Bose]

where θae is the electrical angle measured

from the a-phase axis and ωe is the angular
speed of the stator mmf in electrical
Rotating Magnetic Field and Slip
(cont’d)
 Rotating Magnetic Field and Slip
(cont’d)
In mechanical radians/sec. the synchronous
speed is related to the electrical speed by:
2
ωsm = ωe
P
If the rotor is rotating at an angular speed ωrm
the slip speed is simply equal to ωsm - ωrm.
The “slip”,s, is the normalized slip speed and
is given by:
ω sm − ω rm ω e − ω r
s= =
ω sm ωe
 Torque Production
The torque produced by an induction motor
may be derived and expressed by the
following equation: (see ref. [1] in Bose)
P
Te = π   lrB p Fp sin δ
2
where P= # of poles
l = axial length of motor
r = radius of motor
Bp= peak air-gap flux density
Fp=π peak value of rotor mmf
and δ = 2 + θ r
Per-Phase Equivalent Circuit Model
A per-phase transformer-like equivalent
circuit is shown below:
 Per-Phase Equivalent Circuit
Model (cont’d)
Synchronously rotating air gap flux wave
generates a counter emf Vm. This in turn is
converted to a slip voltage in the rotor
phase, Vr’ = nsVm, where n=rotor:stator
turns ratio, and s=normalized slip.
Stator terminal voltage, Vs = Vm + VRs +VLls

where VRs=voltage drop across stator

resistance (Rs) and VLls=voltage drop across
stator leakage inductance (Lls).
 Per-Phase Equivalent Circuit
Model (cont’d)
Excitation current, I0 = Ic + Im
where Ic is core loss current (=Vm/Rm)
and Im is magnetizing current (=Vm/ ω e Lm)

Rotor-induced voltage, Vr’ = VRr’ + VLl’

where VRr’ = voltage drop across rotor resistance

and VLl’ = voltage drop across rotor leakage
inductance

The induced voltage in the rotor leads to a rotor

current Ir’ at slip frequency ωsl.
Per-Phase Equivalent Circuit
Model (cont’d)
The stator current, IS = I0 + Ir
where Ir is the rotor-reflected current
induced in the stator.

I0
Per-Phase Equivalent Circuit
Model (cont’d)
2
n sVm Vm
I r = nI r = '
'
=
Rr + jω sl Llr  Rr 
'

  + jω e Llr
 s 

Rr'
Rr = 2
n
L'lr
Llr = 2
n
Per-Phase Equivalent Circuit
Model (cont’d)
Per-Phase Equivalent Circuit
Model (cont’d)

Torque expression can be written as:

3 P ˆ
Te =  ψˆ m I r sin δ
2 2 

where ψˆ m = peak value of air gap flux

linkage/pole
and Iˆr = peak value of rotor current
 Per-Phase Equivalent Circuit
Model: Power Expressions
Input Power: Pin = 3Vs I s cos φ where cosφ is input PF

Pls = 3I s2 Rs
Stator copper loss:
Plr = 3I Rr
2
r
Rotor copper loss:
Plc = 3Vm2 / Rm
Core loss:
Pg = 3I r2 Rr / s
Power across air gap:
Po = Pg − Plr = 3I r2 Rr (1 − s / s )
Output power:
Psh = Po − PFw
Shaft Power: where P is friction and
Per-Phase Equivalent Circuit
Model: Torque Expression
The torque can be expressed as:

Po 3 2 1− s  P  2 Rr
Te = = I r Rr = 3  Ir
ωm ωm s  2  sω e

2 2
where ω m =  P  ω r =  P  (1 − s)ω e is the rotor
   

mechanical speed (radians/sec.)

 Per-Phase Equivalent Circuit
Model: Torque Expression (cont’d)
Using a little algebra (see Bose) it can
be shown that the torque may be further
expressed as:
P
Te = 3   Lm I m I a
2
where I a = I r sin δ .

This torque expression is similar to that for

a dc motor, where Im = magnetizing
component of stator current and Ia =
armature component of stator current.
Simplified Per-Phase Equivalent
Circuit
A simplified circuit dropping Rm and
shifting Lm to the input is applicable to
integral horsepower machines.

Performance of this equivalent circuit is

typically within 5%.
Simplified Per-Phase Equivalent
Circuit Model (cont’d)
The current Ir in this circuit is given by:
Vs
Ir =
( Rs + Rr / s ) 2 + ω e2 ( Lls + Llr ) 2

The torque of the motor using this circuit

is given by:

 P  Rr Vs2
Te = 3  
ω
  e s
2 s ( R + Rr / s ) 2
+ ω 2
e ( Lls + Llr ) 2
Example of Calculating Efficiency
of an Induction Motor

Example 5.1 Krishnan

Flowchart for Computing Steady State
Performance of Induction Motor

Ref: R. Krishnan,
“Electric Motor Drives”
Torque-Speed Curve of Induction
Motor
The torque-speed curve as a function of
slip can be calculated from the equation
two slides back.
Torque-Speed Curve of Induction
Motor (cont’d)
Three regions in torque-speed curve:
1) Plugging (braking) region (1<s<2)
Rotor rotates opposite to direction of
air gap flux. Can happen, for example,
if stator supply phase sequence
reversed while rotor is moving.
2) Motoring region (0<s<1)
Te=0 at s=0. As s increases (speed
decreases), Te increases until max.
torque (breakdown torque) is reached.
Beyond this point, Te decreases with
Torque-Speed Curve of Induction
Motor (cont’d)
3) Regenerating Region (s<0)
Here the induction machine acts as a
generator. Rotor moves faster than air
gap flux resulting in negative slip.
Torque-Speed Curve of Induction
Motor (cont’d)

Ref: R. Krishnan,
“Electric Motor Drives”
Performance Characteristics of
Induction Motor

Ref: R. Krishnan, “Electric Motor Drives”

 Starting Torque of Induction Motor

The starting torque of an induction motor

is given by substituting for s=1 and is
given by:

 P  Rr Vs2
Te = 3  
ω
  e s
2 ( R + Rr ) 2
+ ω 2
e ( Lls + Llr ) 2
Starting Torque of Induction Motor
(cont’d)
This torque can be enhanced for line start
motors (ones started directly with full line
voltage) by increasing the rotor resistance.
This can be achieved by connecting
external resistors in the case of slip ring
rotors. However, with squirrel cage rotors
where the rotor is shorted, deep bar or
double-cage rotors can be used to increase
starting torque.
 Characterizing Induction Motors
One way to characterize an induction
motor is with the No-load/blocked rotor
tests which yield the per-phase equivalent
circuit model shown earlier (see figure
below).
ias iar

vas =M
Characterizing Induction Motors
(cont’d)
We can characterize an induction motor
with the variables Rs, Lls, M, Llr, Rr
determined through lab tests using
balanced 3Φ excitation. This circuit
described the impedance perceived per
phase on a line-neutral connected machine.
Everything in the dashed box is a rotor
quantity that has been “referred” to the
stator by the ideal transformer in the
machine model. From now on, assume that
Llr, Rr and iar are referred to the stator.
Characterizing Induction Motors
(cont’d)
 No-Load Test (s=0)
Equivalent circuit:

Ref: R. Krishnan, “Electric Motor Drives”

 Characterizing Induction Motors
(cont’d)
 No-Load Test (s=0) yields:
In sinusoidal steady state, ignoring
resistances:
vas = ias X s + ibs X ab + ics X ab
Las
But -ias = (ibs+ics)
 3 
∴ vas = ias [ X s − X ab ] = iasω  Lls + Lsr 
 2 
From transformer model:
3
vas = iasω [ Lls + M ] => M = Lsr
2
 Characterizing Induction Motors
(cont’d)
 Blocked rotor test (s=1) yields
estimates of Lls and Llr. Equivalent
circuit at standstill is shown below:

Ref: R. Krishnan, “Electric Motor Drives”

 Characterizing Induction Motors
(cont’d)
 Ohmmeter/Power loss tests give Rs
and Rr.

So, with Llr, Rr and all ir’s understood as

referred rotor quantities, the “stator-side”
tests identify all the model parameters for
the induction motor.
Example of Determining Induction
Motor Model Parameters

Example 5.2 Krishnan

NEMA Classification of Induction
Motors

The National Electrical Manufacturers

Association (NEMA) has classified
induction motors based on their
torque-slip characteristics. (see text
for details)
Circuit Model of a Three-Phase Induction
Machine (State-Space Approach)
 Voltage Equations

Stator Voltage Equations:

d λas
vas = ias rs +
dt

d λbs
vbs = ibs rs +
dt

d λcs
vcs = ics rs +
dt
 Voltage Equations (cont’d)

Rotor Voltage Equations:

d λar
var = iar rr +
dt

d λbr
vbr = ibr rr +
dt

d λcr
vcr = icr rr +
dt
Flux Linkage Equations
 Model of Induction Motor
To build up our simulation equation, we
could just differentiate each expression
for λ, e.g.
d λas d [first row of matrix]
vas = =
dt dt
But since Lsr depends on position,
which will generally be a function of
time, the trig. terms will lead to a mess!
Park’s transform to the rescue!